SetMoveDuration

When the move mode has been set to time-based with the command SetMoveMode(1), the motion-queue SetMoveDuration sets the desired duration for the movement resulting from every subsequent position-mode command. The duration does not include the acceleration and deceleration phases.

Syntax

SetMoveDuration(t)

Arguments

• t: duration in seconds.

If the duration is 0, the robot will move as fast as possible, but only if the severity set with SetMoveDurationCfg is 0 or 1.

Default values

The default settings are applied whenever the robot is activated or reactivated.

By default, the duration is 3 seconds.

Usage restrictions

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

• [1005][The robot is not activated.]

• [1011][The robot is already in error.]

Cyclic protocols

In cyclic protocols, the SetMoveDuration command is represented by MotionCommandID 51. See Section 4.2 for more details.